Power take-off control system

ABSTRACT

A control system and method for detecting variable load types and controlling the operation of a PTO clutch to effect engagement of the clutch with variable loads, and especially to more optimally effect the engagement of a clutch with a heavy load is disclosed. The control system includes a controller that receives input and output clutch shaft speed signals and generates control signals to control the pressure applied by the clutch. When heavier loads are applied to the PTO shaft, during the time when control signals are being generated before detection of initial movement of the output shaft, the controller generates one or more shock signals of short duration to cause momentary applications of significantly greater pressure to the clutch in order to break loose the applied load. Based upon the time of detection of initial movement by the output shaft, load categorization can be made, and control signals that are thereafter generated before lockup may be dependent, in part, upon the determined load categorization.

TECHNICAL FIELD

The present invention relates to a power take-off (PTO) control systemand method for more optimally engaging and operating loads applied tothe PTO shaft, especially for an agricultural vehicle such as a tractor.In particular, the present invention relates to a control system andmethod for detecting variable load types and controlling the operationof a PTO clutch to effect engagement of the clutch with variable loads,and especially to more optimally effect the engagement of a clutch underextreme conditions, such as a very light load, a very heavy load, and/oroverrun clutches.

BACKGROUND ART

PTOs are used on many types of vehicles, including on agriculturalvehicles such as tractors, to provide power for equipment or implements,such as, for agricultural purposes, combines, mowers, balers, forageharvesters and spreaders.

Modern tractors commonly have horsepower ratings in excess of 100horsepower. However, the shaft sizes for PTOs have not changed due tothe need to maintain compatibility with older equipment and maintain thestandardization for PTOs. Thus, the torque output of PTOs for manymodern tractors is no longer limited by the tractor horsepower. Rather,the torque output is limited by the strength of the PTO shaft and thefailure thereof. In addition to causing PTO shaft failures, the torqueproduced by the high horsepower tractors can accelerate equipmentattached to the respective PTO at a rate which can damage the equipment.

In view of the problems associated with the control of PTO shafts inhigh horsepower tractors, it was found desirable to provide a PTO clutchcontrol system for protecting PTO shafts from catastrophic failure andfor providing PTO shaft accelerations at rates which protect the shaftsand attached equipment during clutch engagement.

Typical of such a system is the system of U.S. Pat. No. 5,494,142, whichdiscloses a PTO control system for vehicles, such as farm tractorsincluding a power take-off (PTO) shaft, for supplying rotational motionto an implement of the type which may be stationary or towed by thetractor. Power is transferred to the PTO shaft by a clutch including aninput shaft coupled to a power source and an output shaft coupled to thePTO shaft. The clutch transmits a maximum torque between the input andoutput shafts in response to a maximum clutch pressure and transmits avariable torque between the input and output shafts in response to agiven clutch engagement pressure that is less than the maximum clutchengagement pressure. Typically, a generally linear, gentle ramping up ofcurrent/pressure is employed to achieve smooth engagement.

The control system includes a first transducer disposed to generate aninput signal representative of the rotational speed of the input shaft,a second transducer disposed to generate an output signal representativeof the rotational speed of the output shaft, and a control circuit. Thecontrol circuit is coupled to the clutch control, the first transducer,and the second transducer.

While such a control system has been of great value and effectiveness,it and other control systems have continued to experience difficultieswhen attempts are made to drive PTO under extreme conditions. With suchsystems, no differentiation was made with respect to the loads applied,be they very light or very heavy. With a light applied load, initial PTOshaft movement could occur at a relatively early time and the full shaftspeed would be reached before a modulation is effectively executed. Witha heavy load, however, initial PTO shaft movement would not occur untila later time, leaving very little time for modulation.

The strategy of employing a generally linear, gentle ramping up ofcurrent/pressure to achieve smooth engagement, while effective andbeneficial in many instances, has nevertheless been found to be not aseffective as would be desirable in effecting initial movement of extremeloads and smooth engagement. In various instances, the difficulty ininitiating movement could result in either abandonment by the system ofthe engagement or by a sudden and abrupt engagement, which, in severecases, could lead to breakage of the shaft or unsafe operation.

SUMMARY OF THE INVENTION

The present invention is intended to address such difficulties as mightarise when the PTO shaft can be loaded with variable loads. Theinvention is thus directed to a control system and method for moreoptimally effecting engagement and operation of variable implement loadsthat may be applied to a PTO shaft.

By applying high amplitude/short duration current shocks, such as on topof the generally linear control curve, at different times, PTO shaftmovement can be caused to occur at earlier times for heavier loads thanhas previously been the case. The high amplitude of the current, and theconsequent high pressure applied through the clutch, and then theconsequent shock effect, is effective in breaking loose static loads,such as frictions, drags, etc., and achieving earlier movement of thePTO shaft. For safety reasons, the PTO shaft is expected to startmovement and then reach full speed within a time limit, such as 6seconds. This earlier start of PTO shaft movement will gain valuabletime for modulating shaft accelerations. Now that the shocks willgreatly help break loose heavy static loads, the generally linearcontrol curve can be made even more gentle/flat without being concernedthat it takes too long to engage heavy load applications. Thecombination of flatter linear control and longer modulation ofacceleration is beneficial in achieving smoother PTO engagement for anyload conditions.

The short duration of the applied shocks ensures that the overall energylevel remains low, however, which not only protects the PTO shaft butalso ensures that the acceleration of the PTO shaft will be determinedprimarily by the generally linear control curve and not by the currentshock. By employing this technique, heavier static loads can be morereadily broken loose, yet smooth PTO shaft acceleration can be achieved.

During system operation, current shocks are thus applied at strategictimes prior to movement of the PTO shaft. The number of shocks requiredto initiate PTO shaft movement and/or the length of time fromapplication of pressure until PTO shaft movement first occurs areindicative of the applied load, with heavier loads requiring more shocksand/or a longer time before movement of the PTO shaft commences. Oncemovement of the PTO shaft has occurred, the current can thereafter beincreased in known manners, including at predetermined or newlycalculated ramp rates, until the maximum allowable current is reached.The ramp rate after detection of PTO shaft movement can also be adjustedaccording to the determined load type and the detected and desiredacceleration of the PTO shaft.

The number and timing of the current shocks may be determined based uponload feedback information. In a more basic system utilizing the presentinvention, current is initially applied at a time t₀ and, typically, aslow ramping of the current commences. PTO shaft speed is monitored and,if movement of the PTO shaft is detected prior to a time t₁, the load isconsidered to be a light load, and an appropriate current/pressurecontrol curve for light load can preferably thereafter be employedduring the modulation period of operation.

If, at time t₁, the PTO shaft has not commenced movement, however, alight current shock is applied, or application of a series of lightcurrent shocks is commenced, at time t_(S1), which may be essentiallythe same as t₁, or delayed somewhat, if so desired. PTO shaft speedcontinues to be monitored and, if movement of the PTO shaft is detectedprior to a time t₂, the load is considered to be a medium load, and anappropriate current/pressure control curve for medium load canpreferably thereafter be employed during the modulation period ofoperation.

If, at time t₂, the PTO shaft has still not commenced movement, aheavier current shock is applied, or application of a series of heaviercurrent shocks is commenced, at time t_(S2), which may be essentiallythe same as t₂, or delayed somewhat if so desired. PTO shaft speedcontinues to be monitored and, if movement of the PTO shaft is detectedprior to a time t₃, the load is considered to be a heavy load, and anappropriate current/pressure control curve for a heavy load canpreferably thereafter be employed during the modulation period ofoperation.

Still heavier shocks can be made at still later times and additionalload type designations made, as may be desired. A maximum time can alsobe established for detecting movement of the PTO shaft, withnon-movement by such time being considered indicative of an overloadcondition. In such event, the control system can then effect atermination of the engagement operation so as to avoid damage to the PTOshaft or the vehicle engine.

The times at which current shocks are applied need not strictly bepredetermined time periods, but may be times which are wholly orpartially determined by or dependent upon system operation andassociated events. It has been found, for example, that, especially withheavier loads, a drop in the speed of the engine (and/or the input shaftto the PTO clutch) may be detected prior to any detected movement of thePTO shaft. Such an occurrence is indicative of a situation in which theengine is being loaded by the implement on the PTO shaft, but theimplement load has not yet broken loose. Often, if a current shock canbe applied at this time, the load can be broken loose before the enginespeed drops precipitously. Consequently, with certain embodiments it maydesirable to utilize detection of engine droop, or some amount of droop,and to generate a current shock if movement of the PTO shaft has notdetected when the droop occurs.

The invention can also be employed in conjunction with other techniquesand methods for controlling engagement of a loaded PTO shaft, includingtechniques and methods such as are disclosed, for example, in U.S. Pat.Nos. 5,494,142 and 6,267,189 and in other pending or contemplatedapplications of the assignee of the present application or relatedcompanies, which techniques and methods, among other things, may permitor allow automatic calibration of the starting point based upon both PTOand engine shaft speed, wherein the commencement of either PTO shaftmovement or engine droop, whichever is detected first, will result indetermination of the current being applied at such time, which currentvalue can be averaged with the current values for a plurality ofprevious engagements to determine a reference current value to be usedas a standing point for the next engagement operation. The use of suchother techniques and methods are not necessary for the use and enjoymentof the present invention, but systems that employ combinations of thesetechniques and methods are generally more preferable than more basicsystems since additional advantages and improved performance can berealized than with the more basic systems.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic block diagram of a PTO drive and control system;

FIG. 2 is a schematic block diagram representative of the circuitconfiguration for a controller of the control system;

FIGS. 3A and 3B are flowcharts representative of the general sequence ofoperation of a control system embodiment;

FIG. 4 is a graphical representation of a particular application ofcurrent/pressure control signals to the hydraulic valve of the controlsystem over a period of time; and

FIG. 5 is a graphical representation of actual and desired accelerationsof a PTO shaft.

FIG. 6 is a flowchart representative of one embodiment of thefunctionality of step 90 of the flowchart of FIG. 3A.

FIG. 7 is a flowchart representative of one embodiment of thefunctionality of step 98 of the flowchart of FIG. 3B.

FIG. 8 is a graphical representation of actual and desired speeds of aPTO and engine speed of an agricultural vehicle during engagement of thePTO;

FIG. 9 is a flowchart representative of one embodiment of thefunctionality of step 94 of the flowchart of FIG. 3B; and

FIG. 10 is a flowchart representative of an additional operational stepsthat may be included in a point A in the operational sequence in FIG. 6.

DETAILED DESCRIPTION OF THE INVENTION

FIG. 1 depicts an embodiment of a power take-off (PTO) clutch controlsystem 10 for an agricultural vehicle (such as a tractor schematicallyrepresented by the dashed line labeled 12) that includes the presentinvention. With the exception of the PTO clutch control system 10,tractor 12 may be a conventional agricultural tractor of the typeincluding an engine 14 having conventional accessories such as analternator 16. Engine 14 is the power source for tractor and, inaddition to providing power to the drive wheels (not shown) of tractor12, provides the power to apply rotational motion to a multi-platehydraulically actuated PTO clutch 18. Depending upon whether PTO clutch18 is engaged, power from engine 14 may in turn be transmitted to anoutput shaft 32. Output shaft 32 is shown directly coupled to a 1000 RPMPTO (high speed PTO) shaft 33 and also is shown coupled to a 540 RPM PTO(low speed PTO) shaft 35 by a reduction gear 37. In alternativeembodiments, high speed PTO shaft 33 may be of another speed rating suchas 750 RPM. While, in alternate embodiments, high and low speed PTOshafts 33 and 35 may be provided at separate output terminals on tractor12, preferably each PTO will be employed at a single output terminal(one PTO may be substituted for the other).

Control system 10 includes a controller 20 (including, e.g., a digitalmicroprocessor such as the Intel TN83C51FA), a PTO on/off switch 22, anoutput clutch speed transducer 26, and a normally closed, solenoidoperated, hydraulic, proportional clutch control valve 28. Controlsystem 10 also is coupled to alternator 16 and receives a signaltherefrom representing the speed of engine 14.

The engine speed is equal to or, depending upon gear reduction, amultiple or proportion of the speed of an input shaft 19 to PTO clutch18 that receives power from engine 14 and transmits power to the clutch.In alternate embodiments, a signal representative of the speed of inputshaft 19 (that is directly representative of the speed of engine 14) maybe obtained by way of an input shaft transducer 24 coupled to shaft 19instead of alternator 16. Consequently, for purposes of this document,reference may interchangeably be made to the engine and/or its speed orto the input shaft and/or its speed, with like effect, and treating thespeeds as being alike although they may differ proportionally.

Transducers 24 and 26 may, by way of example and not of limitation, bevariable reluctance sensors.

Alternator 16 and transducer 26 are coupled to digital inputs ofcontroller 20 by, respectively, electrical conductors 21 and 29 andconditioning circuits 79 and 38, which may be integral to controller 20.(In alternative embodiments in which signals regarding input shaft 19are provided by transducer 24, an electrical conductor 25 along withconditioning circuit 38 may be employed.) Conditioning circuits 79 and38 filter radio and other undesirable frequencies of interference fromthe signals produced by alternator 16 and transducer 26 (or, inalternate embodiments, transducer 24) and introduced in conductors 21and 29 (or, in alternate embodiments, conductor 25). Additionally,conditioning circuits 79 and 38 typically place the signals produced byalternator 16 and transducer 26 (or transducer 24) within a 5 V rangeand typically provide these signals with a generally square waveconfiguration which can be appropriately sampled by controller 20.Accordingly, the signals applied to controller 20 by alternator 16 (ortransducer 24) and transducer 26 typically have a generally square waveconfiguration with a frequency proportional to the rotational speed ofinput shaft 19 (or of engine 14) and output shaft 32, respectively.

Switch 22 has associated therewith a conditioning circuit 40, which maybe integral to controller 20. Depending upon the application, circuit 40may provide signal inversion and appropriate filtering to eliminateswitch bounce. However, depending upon the type of controller 20 used,circuit 40 may be eliminated. The signal produced by switch 22 isapplied to a digital input of controller 20 via electrical conductor.

Hydraulic valve 28 is coupled to a digital output of controller 20 by anappropriate amplification and signal conditioning circuit 44, which maybe integral to controller 20, and electrical conductor 48. As will bediscussed in greater detail below, controller 20 applies a signal, suchas an analog or a pulse-width modulated (PWM) signal, to valve 28 viaelectrical conductor 48 and circuit 44. Due to the nature of thesolenoid that operates valve 28, amplification and isolation circuit 44is utilized to produce a control signal having sufficient voltage andcurrent to operate valve 28. Additionally, due to inductive kickbackswhich may potentially be produced by the solenoids of valve 28,isolation may be provided in circuit 44 to protect controller 20. Whilecontroller 20 is typically configured to apply an analog current signalto valve 28, in alternative embodiments an analog voltage signal, apulse-width modulated (PWM) current signal, or a PWM voltage signal canbe similarly employed and provided to valve 28. In each case, themagnitude of the signal provided (which, in the case of a PWM current orvoltage signal, is the time-average magnitude of the signal andtherefore depends upon the duty cycle or pulse width of the signal) isproportional to the desired pressure from valve 28.

Turning to the operation of valve 28, valve 28 is a proportionalhydraulic valve which applies hydraulic fluid to PTO clutch 18 from thesystem hydraulic fluid source 52 at a pressure which is related to (e.g.proportional to) the time-averaged voltage applied to the solenoidassociated with valve 28. Thus, the pressure of the fluid applied to PTOclutch 18 via hydraulic conduit 36 by valve 28 may be controlled byapplying a variable current signal to valve 28. In alternateembodiments, the pressure may be controlled by applying a variablevoltage signal, a PWM current signal, or PWM voltage signal to valve 28.Where a PWM signal is applied to the solenoid of valve 28 to control thepressure of the hydraulic fluid applied to PTO clutch 18, the pressureof the fluid is proportional to the pulse width of the PWM signalproduced by controller 20.

As discussed above, PTO clutch 18 is a multi-plate hydraulic clutch.This type of clutch is capable of transferring a torque from clutchinput shaft 19 to output shaft 32, where the torque is generallyproportional to the pressure of the hydraulic fluid applied to PTOclutch 18. Output shaft 32 is shown directly coupled to 1000 RPM PTO(high speed PTO) 33 and also is shown coupled to 540 RPM PTO (low speedPTO) 35 by reduction gear 37. In alternative embodiments, high speed PTO33 may be of another speed rating, such as 750 RPM. Accordingly, thetorque transferred between shafts 19 and 32 will be generallyproportional to the magnitude of the analog current signal applied fromcontroller 20 to the solenoid of valve 28. (In alternate embodimentswhere an analog voltage signal, a PWM current signal, or a PWM voltagesignal is provided to valve 28, the torque transferred between shafts 19and 32 also will be generally proportional to the magnitude of theapplied signal, which in the case of a PWM signal is proportional to theduty cycle or pulse width of the signal.) While, in the ideal case, itmay be convenient to have the torque transferred between shafts 19 and32 exactly proportional to the magnitude of the current signal appliedto valve 28, in mechanical systems such a relationship may be difficultto obtain. Accordingly, controller 20 is programmed to compensate forthe inability to obtain such proportionality, and overall non-linearityin the electronics and mechanism of the control system 10.

Also shown in FIG. 1 is an implement 17 that may be attached to(typically, towed by) tractor 12. Implement 17 includes equipment (notshown) that is operated by way of power from tractor 12. The equipmentmay perform one or more actions upon a field, such as planting ortilling. Implement 17 is capable of receiving power from tractor 12 viaan implement input shaft 51 coupled to high speed PTO 33 via a coupler47. When PTO clutch 18 is engaged and is transmitting power from engine14 to output shaft 32 and high speed PTO 33, power is also thentransmitted to implement input shaft 51. In addition to implement inputshaft 51, implement 17 also include an implement output shaft 85 thatcouples, and transmits power from, the implement input shaft to theequipment. Implement input shaft 51 and implement output shaft 85 arecoupled via an over-running clutch 87. Over-running clutch 87 allowsimplement output shaft 85 to continue to rotate freely even whenimplement input shaft 51 is not rotating, and allows the implementoutput shaft to rotate at a higher angular velocity than the implementinput shaft. If locking pins and notches (not shown) of over-runningclutch 87 are not engaged, implement input shaft 51 must rotate aportion of a rotation to engage the pins with the notches before theover-running clutch will transmit power from the input shaft toimplement output shaft 85. Implement input shaft 51 is coupled to highspeed PTO 33. In alternate embodiments, a similar implement input shaftmay be coupled to low speed PTO 35 by way of a second coupler (notshown).

Referring now to FIG. 2, controller 20 is depicted as including a memorycircuit 54 (which may include RAM and ROM) and/or as being configured orprogrammed to provide the operations of a speed sensing circuit 56, atiming circuit 58, a switch status monitoring circuit 60, a signalprocessing circuit 62, and a valve control signal output circuit 64. Thedirection and channels for data flow between circuits 54, 56, 57, 58,60, 62 and 64 are shown in FIG. 2. The ROM of memory circuit 54 storesthose values required for system 10 initialization and the constantsrequired for the operation of certain programs run by controller 20. TheRAM of memory 54 provides the temporary digital storage required forcontroller 20 to execute the system program. While, at the present time,memory such as RAM and/or ROM is preferred, memory need not be limitedto such types, and other memory types, including for example, chemical,optical, bubble, and biological, can also be utilized as may beappropriate.

It will be appreciated by those skilled in the art, that, althoughreference has been made hereinabove to various circuits and memory andto operations described and discussed with reference thereto, suchreferenced circuits and their operations, including operations asdiscussed and described hereinafter, may, in various embodiments, beconsidered to be encompassed within or associated with a programmed orprogrammable processor or microprocessor and its associated memory andinput and output circuitry. In such regard, and with particular regardto various embodiments of control system 10, actions associated hereinwith various circuit portions of controller 20 may thus be effectivelycarried out or accomplished in accordance with the programming of amicroprocessor or other control device or mechanism or by other devicesor mechanisms so connected as to operate in a like or similar manner toperform the necessary actions.

Frequency interface circuit 57 and speed sensing circuit 56 receivesignals from alternator 16 and transducer 26 that are applied toconductors 25 and 29, and convert the signals to digital valuesrepresentative of the rotational speeds of engine 14 (or input shaft 19)and output shaft 32, respectively. (In alternative embodiments, speedsensing circuit 56 may receive signals from transducer 24 that areapplied to conductor 25, and convert those signals to digital valuesrepresentative of the rotational speed of input shaft 19, in place of orin addition to frequency interface circuit 57, alternator 16 andconductor 21.) Insofar as the output of alternator 16 is a square-wave,frequency interface circuit 57 may operate as a timing interface thatmeasures the time between pairs of edges of the square wave.

Timing circuit 58 includes counters which are utilized by signalprocessing circuit 62 while executing the programming represented by theflow charts of FIGS. 3A and 3B.

Switch status monitoring circuit 60 converts the signals applied byswitch 22 to conductor 23 to digital values representative of the statusof these switches.

Valve control signal output circuit 64 produces an analog signal, suchas an analog current signal, applied to the solenoid of valve 28 viaconductor 48 and isolation circuit 44, having an appropriate magnitude.

As is briefly discussed below, the programs executed by controller 20 ispreferably executed at 100 Hz (although, in alternate embodiments theprogram could be executed at other frequencies). (In an alternateembodiment in which valve 28 is provided with a PWM current or voltagesignal, valve control signal output circuit 64 would produce a 400 HzPWM current or voltage signal having an appropriate pulse width.Assuming the same program execution frequency of 100 Hz, the pulse widthof the signal from circuit 64 would be updated every 10 milliseconds orevery 4 cycles of the PWM signal.)

FIGS. 3A and 3B depict a representative operational sequence of a PTOengagement and operation such as might occur with the system of thepresent invention, and FIG. 4 illustrates the effects of such anoperational sequence. Basically, there are three sequential modes ofelectrical signal modulation of the PTO valve, designated as the FILLMODE, the MODULATION MODE and the RAMP MODE, which are indicated alongthe horizontal axis in FIG. 4. The vertical axis in FIG. 4 representsthe PTO valve current in units of amps, and the horizontal axisrepresents time. Typically, the PTO module modulates the valve byvarying analog current to the coil. Superimposed on the control currentis a fixed frequency dither signal. FIG. 4 is a representational figurewhose purpose is to illustrate certain features, and is therefore notnecessarily to scale.

I_(INIT) shown in FIG. 4 is the current level at which a PTO solenoidcoil is cracking the PTO valve open just enough for the PTO clutch tostart carrying torque. The value of this current level comes from PTOcalibration which may be predetermined or otherwise established invarious ways. The value of such current is typically between 200-400 ma.

Time t_(S1) in FIG. 4 is the time at which the PTO control currentreaches I_(INIT), typically around 500 ms.

The FILL MODE may be considered to have three identifiable stages: VALVEWAKE-UP, GENTLE INCREMENT, and LOW ENERGY SHOCKS. FILL MODE begins at t₀with PTO speed at zero when PTO switch 22 is closed and ends when PTOspeed (output shaft movement) is detected, such as at T₁. The time atwhich PTO speed is detected is the start of the MODULATION MODE.

The FILL MODE preferably starts with a VALVE WAKE-UP stage. The wakingup current is typically about 200 ma above I_(INIT). The duration ofsuch stage may be made to depend upon how long the PTO has been in OFFstate, and may typically be set, as indicated below:

PTO off time Wake-up duration <=500 msec 0 >500 msec 10 msec >800 msec20 msec >1200 msec 30 msec >2000 msec 40 msec >4000 msec 60 msec >6300msec 70 msec

Utilization of a VALVE WAKE-UP stage speeds up the filling up of the PTOvalve and conditions the valve to be ready to carry torque.

After valve wake-up, the current will preferably drop to about 40 mabelow I_(INIT) and thereafter quickly enter the GENTLE INCREMENT stage.During such stage, the current keeps increasing, generally gently after,perhaps, a more pronounced initial increment, until either 1.5 secondshas passed or PTO speed is detected, with the current to the PTO valvetypically increasing by approximately 0.03% of the maximum current every10 ms. It has been found desirable to increment the current so that, bytime T_(INIT), the current will typically have reached I_(INIT), andthat, after approximately 1.5 seconds, the applied current willtypically be about 40 ma above I_(INIT). If no PTO shaft speed has beendetected by such time, the FILL MODE will then enter the LOW ENERGYSHOCKS stage.

The desirability of utilizing a LOW ENERGY SHOCKS stage arises becausesome implements require the application of higher current to the valvein order to break the implement loose (e.g., frictions, heavy staticloads, etc.), but lower current to ramp up speed. During the LOW ENERGYSHOCKS stage, low energy shocks, such as roughly 10 Hz pulses riding thebase current increment, may be applied to more readily break loose theimplement and to effect movement of the output shaft. The amplitudes ofsuch pulses preferably starts from about 10 ma and gradually increasesto about 50 ma.

It has been found that, after approximately 3.6 seconds, the torquecapacity should typically be about enough to kill the engine. If no PTOshaft speed is detected by that time, and the engine has not beenkilled, the software will preferably stop the FILL MODE and terminatethe PTO operation. The operator will then need to re-initialize thesystem, such as by turning the PTO switch Off and then back On torestart the PTO.

If, at any time during the FILL MODE, PTO shaft speed is detected, theFILL MODE ends and the MODULATION MODE starts.

The operation of controller 20, especially with regard to the FILL MODE,will now be described in greater detail with reference to FIGS. 3A and3B (FIGS. 3A and 3B represent the operational steps of the program runby controller 20.) Upon system startup at step 66, controller 20 readsthe ROM of memory circuit 54 and initializes the counter in timingcircuit 58. Controller 20 also initializes those other variables andconstants which may be utilized in the programming of controller 20 asit proceeds to and through step 68.

At step 70, controller 20 checks the digital value representative of thestatus of PTO on/off switch 22, such as is available from switch statusmonitoring circuit 60, and remains in a loop back to such step if switch22 is not detected as being closed. Once switch 22 is detected to beclosed, operation will then advance to step 88 and proceed to executethe steps required to begin (or continue) engagement of clutch 18.

At step 88, by checking the value representative of the rotational speedof output shaft 32, controller 20 determines whether or not shaft 32 ismoving, and proceeds to step 90 if the output shaft 32 is not moving orto step 91 if the output shaft 32 is moving.

If the output shaft 32 is not moving and operation has proceeded to step90, the system is in its FILL MODE of operation and controller 20 sets afill current value, which is dependent, in part, upon the particulartime count.

In general, at step 90 the fill current value may be set in accordancewith a predetermined current/pressure control curve, such as has beendiscussed generally hereinabove, but at specific times during the LOWENERGY SHOCKS stage the current value will be increased so as to providea current shock to the clutch system. By way of example, at other thanthe specific times for application of current shocks, controller 20 mayread the time associated with the times since the PTO switch was closed,such as from a timer counter of circuit 58, and set the currentmagnitude value to a predetermined percentage if switch 22 has beenclosed less than a given time. If the time is greater than that giventime, the current magnitude value may be increased by 0.1% for each 10ms increment of time elapsed subsequent to switch 22 being closed forthat given time. (In an alternative embodiment, the pulse width may beset to a predetermined percentage (e.g., 20%) of the maximum pulse widthvalue if switch 22 has been closed for 300 ms or less. If the time isgreater than 300 ms, the pulse width value may be increased by 0.1% foreach 10 ms increment of time elapsed subsequent to switch 22 beingclosed for 300 ms.).

At the specific times at which current shocks are to be applied, thecurrent values are set to a significantly higher value than wouldotherwise be the case. FIG. 6 is a flowchart setting forth oneembodiment of a more detailed operational sequence of step 90 of FIG.3A, showing how the current shock values, such as the increasedmagnitude of the current, can be set to occur at times t_(S1), t_(S2),t_(S3) and t_(SN). Although only a single shock is depicted in FIG. 4 atsuch times, it should be appreciated that application of a series ofshocks commencing at such times is also possible and preferable.

When no movement of the output shaft 32 has been detected at step 88 andthe engagement operation has progressed to step 90, then with particularreference to FIG. 6, at step 90A controller 20 checks whether thethen-current time is time t_(S1), the time at which a first currentshock is to be applied if the output shaft 32 has not commenced movementby that time. If the time t is t_(S1), controller 20 proceeds to step90B where it sets the current value to be used in applying the currentshock at time t_(S1) before proceeding through point C of FIG. 6 to step104 of FIG. 3A.

If, at step 90A, the then-current time is not equal to t_(S1),controller 20 proceeds to step 90C where it next checks whether t isequal to t_(S2), the time at which a second current shock is to beapplied if the output shaft 32 has not commenced movement by that time.If the time t is t_(S2), controller 20 proceeds to step 90D where itsets the current value to be used in applying the current shock at timet_(S2) before proceeding through point C of FIG. 6 to step 104 of FIG.3A.

If, at step 90C, the then-current time is not equal to t_(S2),controller 20 proceeds to step 90E where it next checks whether t isequal to t_(S3), the time at which a third current shock is to beapplied if the output shaft 32 has not commenced movement by that time.If the time t is t_(S3), controller 20 proceeds to step 90F where itsets the current value to be used in applying the current shock at timet_(S3) before proceeding through point C of FIG. 6 to step 104 of FIG.3A.

If, at step 90E, the then-current time is not equal to t_(S3),controller 20 can proceed to other steps such as step 90G, if the systemis designed to provide additional current shocks at other times, or, ifno additional current shocks are to be applied with a particular system,to step 90I. At step 90G, controller 20 checks whether t is equal tot_(SN), the time at which an Nth current shock is to be applied if theoutput shaft 32 has not commenced movement by that time. If the time tis t_(SN), controller 20 proceeds to step 90H where it sets the currentvalue to be used in applying the current shock at time t_(SN) beforeproceeding through point C of FIG. 6 to step 104 of FIG. 3A. If t is notequal to t_(SN) at step 90G (or to a value of t at any of steps 90A,90C, or 90E, if the system is designed to apply fewer than 2, 3, or Nshocks, respectively), controller 20 proceeds to step 90I where it setsthe fill current value for time t in a manner such as has beenpreviously explained hereinabove with reference to step 90 of FIG. 3Abefore proceeding through point C of FIG. 6 to step 104 of FIG. 3A.

FIG. 10 is another flowchart setting forth an optional feature that maybe included within the operational sequence of FIG. 6, includingadditional steps at point A of FIG. 6, showing how a current shock valuecan be triggered by detection of engine droop prior to detection ofmovement of output shaft 32. As shown in FIG. 10, upon reaching step 90(in FIG. 3A), and before proceeding to step 90A, controller 20 may firstdetermine whether a DROOP flag has been set. If such a flag has beenpreviously set, the controller may proceed, for example, either to pointB of FIG. 6 or to step 90A of FIG. 6, depending upon particular systems.

If, however, DROOP flag has not been previously set, controller 20proceeds to step 90K, where it checks to see if any engine droop (or adegree of engine droop) is detected. If not, controller 20 proceeds tostep 90A on FIG. 6; if so, it proceeds to step 90L.

At step 90L, controller 20 sets the DROOP flag before proceeding to step90M, where controller 20 sets a current shock valve to be applied, att=T_(DROOP), before proceeding to and through point C of FIG. 6 to step104 of FIG. 3A.

Once the current value for time t has been set at step 90, such as atsteps 90B, 90D, 90F, 90H, or 90I of FIG. 6 or step 90M of FIG. 10,operation then proceeds to step 104 (FIG. 3A), which step will befurther addressed at a later point hereinafter.

From the foregoing discussion and description, it should be understoodthat a purpose of steps 88 and 90 is to effect smooth engagement of PTOclutch 18. A certain volume of hydraulic fluid must be provided to PTOclutch 18 before the clutch plates of PTO clutch 18 travel through thedistance required to engage the clutch plates. During a clutch fillingprocess, it is undesirable to apply hydraulic fluid to the clutch at afixed or undesirably high pressure since the clutch will abruptly applytorque from input shaft 19 to output shaft 32. Such an abruptapplication of torque can potentially cause damage to output shaft 32 oran associated implement connected to the PTO output shaft. By initiatingthe filling of clutch 18 with a pressure equivalent to the pre-stressforce applied by the clutch springs, and by applying current to thevalve to effect a controlled filling of clutch 18, the clutch plates canbe made to move relatively slowly toward engagement, and the pressurecan be controllably increased gradually until engagement. This processprevents the abrupt transfer of torque from input shaft 19 to outputshaft 32.

As is depicted in a somewhat idealized form in FIG. 4, following valvewake-up at time t₀, the current/pressure applied over time from T_(S)starts at a lower level and increases in accordance with the currentfill values established at step 90 until time T1, when the first motionof the output shaft 32 occurs and is detected at step 88. During theperiod between t₀ and T1, at times t_(S1), t_(S2), and t_(S3), currentshocks are shown as having been applied, consistent with current valuesas set at steps 90B, 90D, and 90E. As shown in FIG. 4, application ofthe current shocks need not occur at equally spaced intervals from oneanother, but can occur at times selected for and matched to particularsystems. As has previously been noted, during such time period from t₀to T1, following initial application of current of a given magnitude fora short duration, it has been found to be advantageous to graduallyincrement the current, such as by approximately 0.03% of the maximumcurrent every 10 ms, until motion of the output shaft 32 is detected. Ashas previously been explained, the current shocks provide a highermagnitude of current for brief durations at the times of theirapplication.

In alternative embodiments employing PWM signals, the pulse width of thePWM signal may be initiated at a certain duty cycle (e.g., 20%) at timet₀ and increased in gradual steps until output shaft 32 begins moving asdetermined at step 88. At the times when a current shock is to beapplied, the pulse width may be expanded to achieve the short durationpressure shock desired at the PTO clutch 18.

Referring now again to FIG. 3A, as has previously been discussed, oncethe fill current has been set, controller 20 proceeds from step 90 ofFIG. 3A to step 104. At step 104, controller 20 checks if the timer hastimed out. If so, controller 20 proceeds to step 107 and terminates thePTO operation; if not, it proceeds directly to step 106.

At step 106, controller 20 operates to send the established currentvalue to PTO clutch valve 28 before proceeding to step 109, where itupdates the timer before proceeding to step 110. At step 110, controller20 checks to see if the PTO switch is still closed. If not, controller20 proceeds to step 107, where the PTO operation is terminated. If theswitch is still closed, however, controller 20 proceeds to step 108,which identifies a return to step 88 and commencement of another loop ofthe engagement operation. (At step 106, for embodiments that use PWMtechniques, controller 20 may effect application of a pulse widthmodulated signal to valve 28 via conductor 48 at a frequency of 400 Hzwith a pulse width corresponding to the current pulse width value as setin that particular loop through the operation sequence.)

It will be appreciated that various checks and actions may be associatedwith RETURN 108 for effecting a conclusion of the operational sequenceand cessation of further looping through the sequence, depending uponthe system.

It should be understood that the foregoing discussion has now describedthe loop operation from step 88 through RETURN step 108 and back to step88, which looping operation occurs during the FILL MODE. The controller20 causes the timer counter to be updated by a specified amount uponeach passage through step 109, which amount is related to the time ittakes to cycle through the operational loop. (For the programmingrepresented by the flow charts of FIGS. 3A and 3B, running at a rate ofapproximately 100 Hz, one cycle is approximately 10 ms. Accordingly, forone cycle, the counter is updated by a count value associated with 10ms.)

Referring again to FIG. 3A, upon a looping pass through step 88, ifshaft 32 is detected to be (already) moving, FILL MODE ceases and systemoperation enters (or continues) with either the MODULATION MODE or RAMPMODE of operation as controller 20 proceeds to step 91 instead of tostep 90.

At step 91, if the movement detected at step 88 is the first movement ofthe output shaft, MODULATION MODE commences and controller 20 proceedsto step 93 where it saves the time of such detected movement as TIMER1,resets and starts a timer for TIMER2, and sets a 1^(st) TIME flag beforeproceeding to step 76 of FIG. 3B.

If the detected movement at step 91 is a continuing movement of theoutput shaft instead of the first detected movement, controller 20proceeds directly to step 76.

As is depicted on FIG. 4, MODULATION MODE directly follows the FILL MODEand is initiated when PTO speed (output shaft movement) is firstdetected. After detection at T₁ of PTO shaft speed, controller 20modifies the analog command signal to the valve based on acceleration ofthe PTO clutch until PTO CLUTCH LOCK-UP occurs (i.e., when PTO clutchslip meets the criteria for a locked clutch condition) at T_(L).

In general, during the period between PTO speed detection and clutchlock-up, the analog command signal is typically adjusted depending uponthe relationship between the calculated acceleration of the PTO clutchcompared to the target acceleration value. Controller 20 monitors enginerpm and assumes it will be constant for the next 2 seconds. From enginespeed, the controller typically calculates the PTO acceleration requiredto achieve PTO clutch lock-up within approximately 1.8 seconds. If theacceleration is lower than the target acceleration value, the controlcurrent will be increased accordingly unless the engine rpm has beenloaded too low. If the acceleration is higher than the targetacceleration value, the control current will be decreased accordingly inthe early stage of modulation. Typically, if modulation has been inprocess for over 1 second, or the PTO has been turned on for over 4seconds, or the clutch slippage is less than 50%, the control currentwill not be decreased even if the acceleration is higher than the targetacceleration value, although these features may be altered dependingupon particular systems and users.

If output shaft movement occurs without appreciable engine droop or thePTO shaft speeds up fairly quickly and without appreciable engine droop,the controller may optionally be programmed to recognize such conditionsas being indicative of a no load or very light load condition, whichcould also initially signify possible use of an over-running clutch. Ithas been found desirable to employ an even more gentle currentmodulation in such instances to accommodate the possibility that anover-running clutch is associated with the output shaft.

With the foregoing in mind, when operation proceeds to step 76 of FIG.3B, controller 20 obtains the digital values representative of therotational speeds of input shaft 19 (or engine 14) and output shaft 32,such as provided to signal processing circuit 62 from circuits 56 and57, and proceeds to step 78, where it then compares the speeds of shaft19 (or engine 14) and shaft 32, and, depending upon such comparison,proceeds either to step 80 or step 82.

If the shaft speeds are the same (or are within some degree of toleranceof the speeds or proportions thereof), signifying that PTO clutchlock-up has occurred, as will be further discussed hereinafter,MODULATION MODE terminates, RAMP MODE commences, and operation proceedsto step 80.

However, if, at step 78, the shaft speeds are not the same (or are notwithin some degree of tolerance of the speeds or proportions thereof),which is the expected situation when output shaft movement is firstdetected and MODULATION MODE commences, operation proceeds instead tostep 82, where controller 20 checks to see whether or not the STEADYSTATE flag has been set, (signifying that PTO clutch lock-up hadpreviously occurred). During MODULATION MODE, the STEADY STATE flag willnot as yet have been set and controller 20 will therefore proceed tostep 94.

At step 94, controller 20 then sets a desired acceleration, whichacceleration may, in some instances and with certain embodiments, becalculated once, upon a first pass through step 94 during a PTOengagement operation and thereafter relied upon in subsequent passesthrough step 94 during such engagement operation, and in other instancesand with other embodiments, be recalculated in subsequent passes throughstep 94 in an engagement operation. By way of example, the desiredacceleration, whether calculated once or multiple times, may becalculated such as by dividing the speed of the input shaft 19 at thetime of calculation by 2 seconds.

In general, the first pass through step 94 is the start of the processfor controlling clutch 18 to accelerate output shaft 32 relative toinput shaft 19 until the speed of output shaft 32 reaches its steadystate speed (no clutch 18 slip) which equals or is proportional to thespeed of input shaft 19. The desired acceleration of output shaft 32 atstep 94 is preferably calculated based upon approximately 1.8-2.0seconds, which has been selected, based upon experimentation, to provideoptimum acceleration of output shaft 32. However, depending upon thesystem configuration, such time period may be varied according to theparticular tractor and PTO application. The calculated accelerationserves as a reference for accelerating output shaft 32 relative to inputshaft 19 at step 96.

As is apparent from FIGS. 3A and 3B and as will be readily understood bythose skilled in the art, and as is discussed and described in U.S. Pat.No. 6,267,189, the PTO clutch control system can repeatedly set a new,updated desired acceleration as it passes through step 94. As is evidentfrom a study of FIGS. 3A and 3B, so long as the speeds of input shaft 19and output shaft 32 remain different (as determined in step 78), thecontrol system program repeatedly cycles through step 94. In embodimentsin which the desired acceleration is recalculated each time the PTOclutch control system cycles through step 94 (instead of only the firsttime), the desired acceleration may be repeatedly calculated by dividingthe current speed of shaft 19, or another quantity related to enginespeed, by the desired time of engagement, which is preferably 1.8-2.0seconds in the embodiments described herein. Although in alternateembodiments the frequency of recalculation may vary (or therecalculation may occur at a frequency less than the frequency at whichthe control system program cycles through step 94), it has been founddesirable to have the desired acceleration recalculated at the samefrequency as the control system program cycles through step 94, which(as stated above) is approximately 10 ms. Such recalculation occurs withsufficient rapidity that the desired acceleration is effectivelycontinuously recalculated to reflect changes in the speed of input shaft19 (that is, changes in engine speed).

Referring to FIG. 8, examples of the desired and actual speeds foroutput shaft 32 (i.e., PTO speed), and engine speed (i.e., the speed ofinput shaft 19), as measured or determined by the PTO clutch controlsystem of an embodiment that recalculates the current desiredacceleration during the engagement operation, are plotted against time.Four desired speed curves are shown. The four speed curves aredetermined based upon the engine speed (or speed of input shaft 19) asmeasured at four times, t_(a), t_(b), t_(c), and t_(d) and are labeledas, and referred to below as, respectively, the “desired PTO speed #a”,“desired PTO speed #b”, “desired PTO speed #c” and “desired PTO speed#d” curves. For convenience, only four desired speed curves are shown inFIG. 8. As discussed above, the desired accelerations in the presentembodiment are actually recalculated approximately every 10 ms(effectively continuously), and so FIG. 8 is meant to be a symbolicdescription of the actual operation of the PTO clutch control system, inwhich there are many more than four desired speed curves. Also, it isfor generality that the four desired speed curves are shown as beingcalculated at four times (times t_(a)-t_(d)) that are not equidistantfrom one another. Although alternative embodiments may vary, it has beenfound desirable to have the desired accelerations (in contrast to FIG.8) recalculated at a constant frequency as the PTO clutch control systemrepeatedly cycles through step 94.

As is depicted in FIG. 8, output shaft 32 begins to rotate at timet_(a), and the speed of the output shaft equals the speed of input shaft19 (or the engine speed) at time t_(e) (lock-up), which corresponds toT_(L) of FIG. 4. Also, as shown, the speed of input shaft 19 (and ofengine 14) does not remain constant as power begins to be transferred tooutput shaft 32, but, instead, decreases or droops. Consequently if theactual speed of output shaft 32 were to increase in accordance with thedesired PTO speed #a curve, which is determined based upon the initialengine speed at time t_(a), the shaft would attain the speed of inputshaft 19 (i.e., the engine speed) in a time significantly shorter thanthe desired time of engagement (the time interval between times t_(a)and t_(e), i.e., 2 seconds). Instead of attaining the speed of inputshaft 19 at time t_(e), the shaft would attain the speed of the inputshaft at the time at which, as shown in FIG. 8, the desired PTO speed #acurve crosses the engine speed curve.

The embodiments that repeatedly recalculate the desired accelerationavoid this excessive engagement rate by adjusting the desired speedcurve as engine speed decreases. As shown in FIG. 8, at times t_(b),t_(c), and t_(d) the desired acceleration is recalculated (at step 94 ofthe control system program) and the desired speed curve changes,respectively, to the desired PTO speed #b, desired PTO speed #c, anddesired PTO speed #d curves. As described below, with such embodimentsthe actual acceleration of output shaft 32 is adjusted as the desiredspeed curve changes (more specifically, the actual acceleration isadjusted based upon the difference between the actual and desiredaccelerations). Insofar as the actual acceleration of output shaft 32 isadjusted to reflect the new desired speed curves, the output shaft speedincreases at a rate such that it will approach the speed of input shaft19 (i.e., the engine speed) at approximately t_(e) (i.e., within thedesired time of engagement, i.e., 2 seconds), as shown in FIG. 8, andnot substantially before t_(e).

It will be appreciated that it is also advantageous to be able toutilize different acceleration control curves depending upon the type ofload that the PTO is driving. FIG. 9 is a flowchart depicting in greaterdetail one manner in which this can be accomplished at step 94 in theengagement operation process.

During MODULATION MODE, controller 20, upon reaching step 94, will, atstep 94A, check to determine if any load flags have already been set. Ifso, controller 20 proceeds to step 94K; if not, it will proceed insteadto step 94B.

At step 94B, controller 20 checks whether the saved TIMER1 value is lessthan t_(S1), the time at which the first current shock was to beapplied. If so, the output shaft 32 commenced movement before thescheduled time for the first current shock, as a consequence of whichthe load is therefore classified as or considered to be a light load,and controller 20 proceeds to step 94C, where it sets a LIGHT LOAD flagbefore proceeding to step 94K.

If, at step 94B, the saved TIMER1 value is not less than t_(S1),controller 20 proceeds to step 94D, where it checks whether the TIMER1value is less than t_(S2), the time at which the second current shockwas to be applied. If so, the output shaft 32 commenced movement afterthe scheduled time for the first current shock but before the scheduledtime for the second current shock, as a consequence of which the load istherefore classified as or considered to be a medium load, andcontroller 20 proceeds to step 94E, where it sets a MEDIUM LOAD flagbefore proceeding to step 94K.

If, at step 94D, the saved TIMER1 value is not less than t_(S2),controller 20 proceeds to step 94F, where it checks whether the TIMER1value is less than t_(S3), the time at which the third current shock wasto be applied. If so, the output shaft 32 commenced movement after thescheduled time for the second current shock but before the scheduledtime for the third current shock, as a consequence of which the load istherefore classified as or considered to be a heavy load, and controller20 proceeds to step 94G, where it sets a HEAVY LOAD flag beforeproceeding to step 94K.

If, at step 94F, the TIMER1 value is not less than t_(S3), controller 20can proceed to other steps such as step 94H, if the system is designedto categorize additional load types, or, if no additional load types areto be categorized with a particular system, to step 94K. At step 94H,controller 20 checks whether the TIMER1 value is less than t_(SN), thetime at which the Nth current shock was applied. If so, the output shaft32 commenced movement after the scheduled time for the (N−1)th currentshock but before the scheduled time for the Nth current shock, as aconsequence of which the load is therefore classified as or consideredto be, for example, a very heavy load, and controller 20 proceeds tostep 94I, where it sets a VERY HEABY LOAD flag before proceeding to step94K.

If, at step 94H, the TIMER1 value is not less than t_(SN), the load isclassified as or considered to be, for example, an extreme load, andcontroller 20 proceeds to step 94J, where its sets an EXTREME LOAD flagbefore proceeding to step 94K.

Upon reaching step 94K, controller 20 then determines the desiredacceleration for the load type being driven, such as in the mannerspreviously described relative to step 94 of FIG. 3B, before proceedingto step 96 of FIG. 3B.

At step 96, controller 20 checks to determine whether the output shaftacceleration is less than the desired acceleration that was set at step94. In order to perform such check, the then-current shaft accelerationmust be first calculated, such as based upon the speed of shaft 32available from circuit 56 at that time and the speed of shaft 32 asmonitored during the previous loop and stored in memory, such as at step76. If an operational loop through step 96 is executed every 10 ms, theshaft acceleration is then the change in shaft speed between programloops divided by 10 ms.

If, at step 96, the actual calculated acceleration of shaft 32 is lessthan the desired shaft acceleration as set at step 94, operationproceeds to step 98. On the other hand, if the actual calculatedacceleration of shaft 32 is greater than or equal to the desired shaftacceleration as set at step 94, operation proceeds to step 99, instead,where the current is limited, before proceeding to step 100.

If the actual acceleration of output shaft 32 is less than the desiredshaft acceleration and operation has proceeded to step 98, controller 20then operates to increase the magnitude of the current. The particularmanner in which current magnitude changes may vary for different controlsystem embodiments.

At step 98, a first control system embodiment (here referred to as the“unmodified PTO clutch control system embodiment”) may, whenever thedesired acceleration exceeds the actual acceleration, increase thecurrent magnitude by 0.1%.

An alternate second control system embodiment (here referred to as the“modified PTO clutch control system embodiment”) may employ aproportional (more accurately, pseudo-proportional) adjustment algorithmto determine the increase in current. In accordance with such analgorithm, the control system may operate (a) if the actual accelerationof the PTO is determined to be less than the desired acceleration butgreater than two-thirds of the desired acceleration, to apply current soas to increase the torque transmitted by the PTO clutch at a slow rate;(b) if the actual acceleration of the PTO is determined to be less thantwo-thirds of the desired acceleration but greater than one-third of thedesired acceleration, to apply current so as to increase the torquetransmitted at a medium rate; and (c) if the actual acceleration of thePTO is determined to be less than one-third of the desired acceleration,to apply current so as to increase the torque transmitted at a fastrate.

A third control system embodiment (here referred to as the “modifiedproportional adjustment algorithm PTO clutch control system embodiment”)has also been found to be practical and useful. FIG. 7 is a flowchartdepicting the operational flow of one embodiment of the functionality ofstep 98 of the flowchart of FIG. 3B for a modified proportionaladjustment algorithm PTO clutch control system embodiment. At step 98 a,controller 20 determines if the actual acceleration is between thedesired acceleration and two-thirds of the desired acceleration. If so,the program increases the current magnitude at a slow rate in step 98 dbefore exiting step 98. If not, controller 20 proceeds to step 98 b, atwhich it determines whether the actual acceleration is betweentwo-thirds of the desired acceleration and one-third of the desiredacceleration. If so, controller 20 increases the current magnitude at amedium rate in step 98 e. If not, controller 20 proceeds to step 98 c,at which it determines whether the actual acceleration is betweenone-third of the desired acceleration and one-sixth of the desiredacceleration. If so, controller 20 increases the current magnitude at afast rate in step 98 f. If not, the actual acceleration is between zeroand one-sixth of the desired acceleration, and controller 20 proceeds tostep 98 g at which it increases the current magnitude at a slow rate.(It should be noted that the program may be designed to treat actualaccelerations that exactly equal two-thirds, one-third, or one-sixth ofthe desired acceleration as if the actual accelerations were above orbelow these levels.)

A significant characteristic of the modified proportional adjustmentalgorithm is that the modified proportional adjustment algorithm (a)determines whether the actual acceleration is below a minimum thresholdproportion of the desired acceleration, and (b) increases the currentmagnitude at a slow rate if the actual acceleration is below the minimumthreshold proportion even though the actual acceleration issignificantly less than the desired acceleration. That is, in such anembodiment, the modified proportional adjustment algorithm determines instep 98 c whether the actual acceleration is below one-sixth of thedesired acceleration and, if so, increases the current magnitude at aslow rate in step 98 g.

This feature of the modified proportional adjustment algorithmalleviates problems such as are described in U.S. Pat. No. 6,267,189that are associated with possible spurious rotations of output shaft 32due to premature delivery of torque by PTO clutch 18 (before the clutchis fully engaged) that may occur, for example, before over-runningclutch 87 is locked. This is because, typically, once PTO clutch 18 isengaged and output shaft 32 is being accelerated, the output shaft wouldnot have an actual acceleration less than one-sixth of the desiredacceleration. Further, typically, PTO clutch 18 is not capable ofdelivering sufficient torque when the clutch is not fully engaged so asto cause output shaft 32 to accelerate at a rate greater than one-sixthof any of the desired accelerations that may be calculated by controlsystem 10. Therefore, the modified proportional adjustment algorithmfulfills the two goals of (a) causing the current magnitude to increaseat a fast rate when the actual acceleration of output shaft 32 issignificantly less than the desired acceleration and yet (b) not causingthe current magnitude to increase at a fast rate when PTO clutch 18 isstill not fully engaged.

While, in such an embodiment, the ratios of actual acceleration todesired acceleration that determine the current magnitude increase ratesare preferably set at two-thirds, one-third, and one-sixth, in alternateembodiments the ratios may be set at different levels. Indeed, differentPTO clutch control systems may have a variety of different proportionaladjustment algorithms that distinguish among more (or less) than fourranges (of ratios of actual acceleration to desired acceleration) and inwhich the control systems provide finer (or less fine) gradations ofincreases in the current magnitude. (Fully proportional control may alsobe appropriate in certain embodiments.) Also, the exact values for the“slow”, “medium”, and “fast” rates of current increase may varydepending upon the embodiment, although the “fast” rate of increase willtypically be the fastest rate at which the mechanical clutch canpredictably increase torque in response to commands from the controlsystem to increase pressure. It should be noted that, while such anembodiment of the invention combines both the functionality of themodified proportional adjustment algorithm and the above-describedrepeated (continuous) recalculation of the desired acceleration (andmodification of the desired speed curve), the modified proportionaladjustment algorithm of step 98 may be employed even when the desiredacceleration is only calculated once.

Although the foregoing discussion of steps 96 and 98 has focused onembodiments that make use of increases in current magnitude inengagement operations, embodiments that make use of increases in pulsewidth may also be employed. With such embodiments, if, at step 96, theactual acceleration of output shaft 32 is determined to be greater thanor equal to the desired acceleration, the controller 20 proceeds to step100, leaving the pulse width value unchanged. If, at step 96, the actualacceleration of output shaft 32 is determined to be less than thedesired acceleration, the controller 20 proceeds instead to step 98, atwhich it operates to increase the current pulse width by 0.1%.

In certain of such systems, it may be desirable to reduce the pulsewidth value when the actual acceleration of output shaft 32 is greaterthan the desired acceleration. However, this type of control may causehunting, and thus an acceleration of shaft 32 which is not smooth.Accordingly, in the presently preferred embodiments that utilize pulsewidth modulation techniques, it is considered preferable to leave thepulse width value unchanged when the actual acceleration of shaft 32exceeds the desired acceleration. With such embodiments, a pulse widthincrease of 0.1% for each 10 ms interval (i.e., for each pass throughstep 98) has been found to be advantageous and preferable.

Any of these control system embodiments (or the programming containedtherein) may be advantageously employed in conjunction with the controlsystem described above in which the desired accelerations are repeatedlyrecalculated (i.e., such that the desired speed curve changes withengine speed).

Regardless of the particular embodiment, when the engagement operationreaches step 100 from either step 98 or step 99, controller 20 checkswhether the increased current value, as set at steps 98, 99, or 102,exceeds the maximum allowable current value. If so, controller 20proceeds to step 101 and resets the current value to the maximumallowable value before proceeding through point A of FIGS. 3B and 3A tostep 104 of FIG. 3A; if not controller 20 proceeds directly throughpoint A of FIGS. 3B and 3A to step 104 of FIG. 3A.

Operation then proceeds in the manner previously described commencing atstep 104 and continues in a MODULATION MODE operational loop until, atstep 78 of FIG. 3B, the speeds are detected as being the same. At thattime, MODULATION MODE ceases and RAMP MODE commences.

Operation then proceeds from step 78 to step 80, instead of to step 82,and at step 80 controller 20 then resets the timer count and also sets aSTEADY STATE flag before proceeding to step 102. At step 102 controller20 determines a current value to be applied, which, during RAMP MODE,may include incremental increases to the current value, such as byincreasing the current magnitude by 1.00% (or, in alternativeembodiments, increasing the pulse width value by 1.00%), beforeproceeding to step 100.

Upon completion of step 102, controller 20 proceeds to step 100, andoperation continues therethrough and thereafter as previously described,with continuing operational looping through steps 80 and 102 of the RAMPMODE loop.

After the maximum current value is reached (at T_(max)) in continuingpasses through step 102, RAMP MODE is completed, and steps 100 and 101act to limit the current value to the maximum current valve.

If, in operational passes after the STEADY STATE flag has been set atstep 80, speeds are subsequently found to (again) be different at step78, controller 20 proceeds to step 82, where it checks to see if theSTEADY STATE flag is set. Since the flag has previously been set,controller 20 proceeds to step 83.

At step 83, controller 20 determines whether or not the speed differencebetween shaft 19 (or engine 14) and shaft 32 is greater than someallowable deviation value, such as fifteen percent (15%). If the speeddifference is greater than fifteen percent (15%), operation proceeds tostep 85, which is indicative of a fault condition and results intermination of PTO operation. If the speed difference is less than 15%,controller 20 proceeds instead to step 102, from which point theoperation will proceed as previously described. Typically, if the STEADYSTATE flag has previously been set and step 102 is reached from step 83,the determined current value will be set at or near to the maximumallowable current value.

Referring now to FIGS. 4 and 5 relative to the foregoing discussion, itshould be observed that PTO clutch lockup occurs at time T_(L) when thespeeds of input shaft 19 (or engine 14) and output shaft 32 become equalor proportional, as detected at step 78 of FIG. 3B. Following suchoccurrence, so long as the speeds remain the same, operation sequencecontroller 20 repeatedly proceeds through steps 102 and 100, increasingthe current value with each pass through step 102, until the currentvalue exceeds the maximum allowable current. At that point, and insubsequent passes through step 100, the current value is reset to themaximum allowable current value at step 101. Such actions cause thecurrent value to be ramped up over time to produce a clutch pressure inPTO clutch 18 associated with the maximum allowable torque to betransmitted between input shaft 19 and output shaft 32. If the currentvalue ever becomes greater than the maximum allowable current value, thecurrent value is reset to the maximum allowable current value at step101.

For embodiments that utilize PWM techniques, following lockup at timeT_(L) controller 20 proceeds through steps 100 and 102 to ramp up thepulse width value to produce a clutch pressure in clutch 18 associatedwith the maximum torque to be transmitted between shafts 32 and 19. Instep 100, the current pulse width value is compared with the maximumpulse width value. If the current pulse width value set at steps 98, 99,or 102 is greater than the maximum pulse width value, controller 20resets the pulse width value to the maximum pulse width value at step101.

It should be recalled from discussions hereinabove that differing timelimits may be established or utilized for different modes of theoperation and that the timer is updated at step 109 of FIG. 3A as thelooping operations proceed, as a consequence of which detection of atiming out of the timer at step 104 by the controller 20 may occur underseveral different circumstances.

In such regard, it should be recalled that one manner of reaching step104 is through on operational loop including step 90. At step 90 thefill current value is set when output shaft 32 is detected as not movingat step 88. If, after operational looping during FILL MODE for a certaintime, the output shaft 32 has not yet begun moving, controller 20 thusoperates at step 104 to terminate the PTO operation.

Another manner in which step 104 can be reached is through anoperational loop including steps 94, 96, and 98 or 99. If, aftercommencement of MODULATION MODE, the speeds of the input shaft 19 andthe output shaft are not found to be the same at step 78 within a giventime, lockup of the clutch has not occurred within that time, andcontroller 20 again operates at step 104 to terminate the PTO operation.

A further manner in which step 104 can be reached is through anoperational loop including step 102. During RAMP MODE, so long as thespeeds of the input and output shafts are the same, the timer is resetupon each passage through step 80. If the speeds differ at some point,however, operation will proceed through step 82 to step 83, instead ofto step 80, and the timer will not be reset at step 80 in that loop. Incontinuing passes through a loop that includes step 83 instead of step80, the timer will be repeatedly updated at step 109 (FIG. 3A) untileither (a) the speeds are again found to be the same at step 78, and thetimer is reset at step 80, or (b) the time limit for again achieving thesame speeds is reached at step 104 (with such condition typically beingindicative of undesirable slippage in the PTO clutch 18), resulting intermination of the PTO operation at step 107, or (c) detection of afault condition at step 83, resulting in termination of the PTOoperation at step 85.

In addition to the various checks performed and conditions tested, asdiscussed and described in the foregoing, additional checks and testsmay be desirable with various systems, including, by way of example,periodic tests of engine speed and other operational factors orconsiderations, and the outcomes of such tests may be utilized indetermining the course of operations without departing from the spiritand scope of the present invention.

Although various features of the control system are described andillustrated in the drawings, the present invention is not necessarilylimited to these features and may encompass other features disclosedboth individually and in various combinations. For example, developmentsin PTO clutches may make electric clutches cost effective for PTOapplications. Accordingly, hydraulic clutch 18 and control valve 28 maypotentially be replaced with an associated electric clutch and electricclutch control circuit.

It will be understood that changes in the details, materials, steps, andarrangements of parts which have been described and illustrated toexplain the nature of the invention will occur to and may be made bythose skilled in the art upon a reading of this disclosure within theprinciples and scope of the invention. The foregoing descriptionillustrates the preferred embodiment of the invention; however,concepts, as based upon the description, may be employed in otherembodiments without departing from the scope of the invention.Accordingly, the following claims are intended to protect the inventionbroadly as well as in the specific form shown.

1. In a vehicle having a power source for producing rotational motion, apower take-off shaft for supplying rotational motion to at least onepiece of equipment other than the vehicle, and a clutch including aninput shaft coupled to the power source and an output shaft coupled tothe PTO shaft, wherein the clutch transmits a maximum torque between theinput and output shafts in response to a maximum clutch pressure andtransmits a selectable torque between the input and output shafts inresponse to a selected clutch engagement pressure less than the maximumclutch engagement pressure, a power take-off control system comprising:a first transducer disposed to generate an input shaft speed signalrepresentative of the rotational speed of the input shaft; a secondtransducer disposed to generate an output shaft speed signalrepresentative of the rotational speed of the output shaft; a clutchcontrol configured to effect engagement and disengagement by the clutchin response to engagement control signals applied thereto, the clutchtransmitting a selectable torque between the input and output shaftsdependent upon a clutch engagement pressure defined by said engagementcontrol signals, wherein the clutch engagement pressure is variable upto the maximum engagement pressure; a controller coupled to the clutchcontrol, the first transducer, and the second transducer, saidcontroller operable to monitor the input shaft speed signals and theoutput shaft speed signals generated by said first and secondtransducers and to produce time-based engagement control signalsdependent thereon, said engagement control signals each including acharacteristic representative of an associated amount of clutch pressureto be applied, said controller operable to generate a first set oftime-based engagement control signals during a time period betweencommencement of an engagement operation and the time at which an outputshaft speed signal indicative of movement by the output shaft isdetected by said controller, and a second set of engagement signals attimes subsequent to said detection of movement by the output shaft, saidfirst set of time-based engagement control signals including a firstsubset of engagement control signals having characteristics collectivelyrepresentative of the amount of clutch pressure to be applied over aperiod of time in a time-ordered fashion, wherein at least oneengagement control signal from among said first subset is a shockcontrol signal that has a characteristic defined by a differentrelationship than the characteristics of the non-shock control signalsof said first subset and whose associated clutch pressure is markedlydistinguishably greater than and out of character with the clutchpressures associated with the non-shock control signals of said firstsubset, whereby generation of a shock control signal effects theapplication of a high clutch pressure for a short time duration at apredetermined time prior to detected movement of the output shaft. 2.The system of claim 1 further comprising a source of pressurizedhydraulic fluid, the clutch being a hydraulic clutch engageable at anengagement pressure related to the hydraulic pressure applied to theclutch, the clutch control including a hydraulic valve for coupling theclutch to the source of pressurized hydraulic fluid, and the hydraulicvalve being a proportional valve configured to control the pressure ofthe fluid applied to the clutch from the source, wherein the pressure isdependent upon the first control signals.
 3. The system of claim 2wherein said controller includes a programmed microprocessor.
 4. Thesystem of claim 2 further comprising an over-running clutch associatedwith the output shaft.
 5. The system of claim 3 further comprising animplement coupled to said over-running clutch.
 6. The system of claim 2wherein said controller includes a digital processor configured toproduce engagement control signals the magnitudes of which arecharacteristics representative of associated amounts of clutch pressureto be applied at given times.
 7. The system of claim 2 wherein saidcontroller includes a digital processor configured to produce engagementcontrol signals which are pulse-width modulated signals having apredetermined frequency, and the pressure applied to the clutch issubstantially proportional to the pulse-width of the modulated signals.8. The system of claim 7 further including filtering circuitry forcoupling the first and second transducers to the digital processor. 9.The system of claim 7 wherein the first and second transducers aremagnetic pickups located and proximate the input and output shafts,respectively.
 10. The system of claim 1 wherein said first set ofengagement control signals includes a plurality of subsets of engagementcontrol signals having characteristics collectively representative ofthe amount of clutch pressure to be applied over different sequentialperiods of time in a time-ordered fashion, wherein each subset includesat least one engagement control signal that is a shock control signalwhich has a characteristic defined by a different relationship than thecharacteristics of the non-shock control signals of that subset andwhose associated clutch pressure is markedly distinguishably greaterthan and out of character with the clutch pressures associated with thenon-shock control signals of that subset, whereby generation of eachsuch shock control signal from a subset effects the application of ahigh clutch pressure for a short time duration at a predetermined timeprior to detected movement of the output shaft.
 11. The system of claim10 wherein the characteristic of at least one shock control signal fromsaid subsets differs from the characteristics of other shock controlsignals from said subsets.
 12. The system of claim 11 wherein saidsubsets of said first set of engagement control signals are generated ina time-sequenced order and the characteristics of the later generatedshock control signals of said subsets are increasingly greater than thecharacteristics of earlier generated shock control signals of saidsubsets.
 13. The system of claim 1 wherein said second set of engagementcontrol signals includes a first subset of control signals thecharacteristics of which are dependent upon the rate of change over timeof the output shaft speed signals and the input shaft speed signal at agiven time, whereby said controller determines a desired accelerationfor the output shaft.
 14. The system of claim 1 wherein said second setof engagement control signals includes a first subset of control signalsthe characteristics of which are dependent upon the rate of change overtime of the output shaft speed signals and the input shaft speed signalat a the time of engagement control signal generation, whereby saidcontroller repetitively determines a desired acceleration for the outputshaft over a period of time.
 15. The system of claim 1 wherein saidfirst subset of engagement control signals includes a plurality of shockcontrol signals, said plurality of shock control signals defining aseries of shock control signals generated commencing at a given timeduring the time between commencement of an engagement operation and thetime at which an output shaft speed signal indicative of movement by theoutput shaft is detected.
 16. The system of claim 1 wherein said firstsubset of engagement control signals includes first and secondpluralities of shock control signals, said first plurality of shockcontrol signals defining a series of shock control signals generatedcommencing at a first given time during the time between commencement ofan engagement operation and the time at which an output shaft speedsignal indicative of movement by the output shaft is detected, saidsecond plurality of shock control signals defining a series of shockcontrol signals generated commencing at a second given time during thetime between commencement of an engagement operation and the time atwhich an output shaft speed signal indicative of movement by the outputshaft is detected.
 17. A method for engaging and operating variableloads on a power take-off shaft in a system having a power source forproducing rotational motion; a power take-off shaft for supplyingrotational motion to at least one piece of equipment coupled to thepower take-off shaft; a clutch including an input shaft coupled to thepower source and an output shaft coupled to the PTO shaft, wherein theclutch transmits a maximum torque between the input and output shafts inresponse to a maximum clutch pressure and transmits a selectable torquebetween the input and output shafts in response to a given clutchengagement pressure less than the maximum clutch engagement pressure; afirst transducer disposed to generate an input shaft speed signalrepresentative of the rotational speed of the input shaft; a secondtransducer disposed to generate an output shaft speed signalrepresentative of the rotational speed of the output shaft; a clutchcontrol configured to effect engagement and disengagement by the clutchin response to engagement control signals applied thereto, the clutchtransmitting a selectable torque between the input and output shaftsdependent upon a given clutch engagement pressure defined by saidengagement control signals, wherein the clutch engagement pressure isvariable up to the maximum engagement pressure; a controller coupled tothe clutch control, the first transducer, and the second transducer,said controller operable to monitor the input shaft speed signals andthe output shaft speed signals generated by said first and secondtransducers, and to produce time-based engagement control signalsdependent thereon, the engagement control signals each including acharacteristic representative of an associated amount of clutch pressureto be applied; and the controller operable to generate a first set oftime-based engagement control signals during a time period betweencommencement of an engagement operation and the time at which an outputshaft speed signal indicative of movement by the output shaft isdetected by said controller, and a second set of engagement signals attimes subsequent to said detection of movement by the output shaft; themethod comprising: (a) monitoring the input and output shaft speedsignals to detect the speeds at given times of the input and outputshafts and initial movement of the output shaft as a result ofapplication of engagement control signals; (b) generating over a firstperiod of time, prior to detection by the controller of initial movementof the output shaft as a result of application of engagement controlsignals, a sequence of engagement control signals having characteristicsassociated with increasingly greater clutch pressure to be applied inaccordance with a particular pattern; (c) generating, at least one timeduring the first period of time, an engagement control signal that is ashock control signal having a characteristic defined by a differentrelationship than the characteristics of non-shock control signalsgenerated over the first period of time, the characteristic of the shockcontrol signal being associated with a markedly and distinguishablyhigher clutch pressure and out of accordance with the particular patternof clutch pressures associated with non-shock engagement control signalsgenerated over the first period of time; (d) following detection ofinitial movement of the output shaft, generating over a second period oftime, prior to detection by the controller of input and output shaftspeed signals of like value, a sequence of engagement control signalshaving characteristics associated with increasingly greater clutchpressure to be applied in accordance with a particular pattern untilmaximum clutch pressure is realized.
 18. The method of claim 17 wherein,at a plurality of predetermined times during said first time period, thecontroller generates distinct engagement control signals that are shockcontrol signals each having a characteristic defined by a differentrelationship than the characteristics of non-shock control signalsgenerated over the first period of time, the characteristic of each suchshock control signal being associated with a markedly anddistinguishably higher clutch pressure and out of accordance with theparticular pattern of clutch pressures associated with non-shockengagement control signals generated over the first period of time. 19.The method of claim 17 including the step, upon detection of initialmovement of the output shaft and prior to step (d), of (e) categorizingthe load on the power take-off shaft based upon the detected time ofinitial movement of the output shaft relative to at least onepredetermined time; and wherein the engagement control signals generatedin step (d) are dependent upon the load categorization made in step (e).20. The method of claim 19 wherein the engagement control signalsgenerated in step (d) are dependent upon the rate of change over time ofthe output shaft speed signals and the input shaft speed signal at agiven time, whereby the controller determines a desired acceleration forthe output shaft.
 21. The method of claim 17 wherein the engagementcontrol signals generated in step (d) are dependent upon the rate ofchange over time of the output shaft speed signals and the input shaftspeed signal at a the time of engagement control signal generation,whereby the controller repetitively determines a desired accelerationfor the output shaft over a period of time.
 22. The method of claim 17wherein the engagement control signals have characteristics which arerepresentative of associated amounts of clutch pressure to be applied atgiven times.
 23. The method of claim 17 wherein the engagement controlsignals are pulse-width modulated signals having a predeterminedfrequency, and the pressure applied to the clutch is substantiallyproportional to the pulse-width of the modulated signals.
 24. A methodfor engaging heavy loads on a power take-off shaft in a power take-offoperating system having a power source for producing rotational motion;a power take-off shaft for supplying rotational motion to at least onepiece of equipment coupled to the power take-off shaft; a clutchincluding an input shaft coupled to the power source and an output shaftcoupled to the PTO shaft, wherein the clutch transmits a maximum torquebetween the input and output shafts in response to a maximum clutchpressure and transmits a selectable torque between the input and outputshafts in response to a given clutch engagement pressure less than themaximum clutch engagement pressure; a first transducer disposed togenerate an input shaft speed signal representative of the rotationalspeed of the input shaft; a second transducer disposed to generate anoutput shaft speed signal representative of the rotational speed of theoutput shaft; a clutch control configured to effect engagement anddisengagement by the clutch in response to engagement control signalsapplied thereto, the clutch transmitting a selectable torque between theinput and output shafts dependent upon a given clutch engagementpressure defined by said engagement control signals, wherein the clutchengagement pressure is variable up to the maximum engagement pressure; acontroller coupled to the clutch control, the first transducer and thesecond transducer, said controller operable to monitor the input shaftspeed signals and the output shaft speed signals generated by said firstand second transducers, and to produce time-based engagement controlsignals dependent thereon, the engagement control signals each includinga characteristic representative of an associated amount of clutchpressure to be applied; and the controller operable to generate a firstset of time-based engagement control signals during a time periodbetween commencement of an engagement operation and the time at which anoutput shaft speed signal indicative of movement by the output shaft isdetected by said controller, and a second set of engagement signals attimes subsequent to said detection of movement by the output shaft; themethod comprising: (a) monitoring the input and output shaft speedsignals to detect the speeds at given times of the input and outputshafts and initial movement of the output shaft as a result ofapplication of engagement control signals; (b) generating over a firstperiod of time, prior to detection by the controller of initial movementof the output shaft as a result of application of engagement controlsignals, a sequence of engagement control signals having characteristicsassociated with increasingly greater clutch pressure to be applied inaccordance with a particular pattern; (c) generating, at least one timeduring the first period of time, an engagement control signal that is ashock control signal having a characteristic defined by a differentrelationship than the characteristics of non-shock control signalsgenerated over the first period of time, the characteristic of the shockcontrol signal being associated with a markedly and distinguishablyhigher clutch pressure and out of accordance with the particular patternof clutch pressures associated with non-shock engagement control signalsgenerated over the first period of time.
 25. The method of claim 24wherein, at a plurality of predetermined times during said first timeperiod, the controller generates distinct engagement control signalsthat are shock control signals each having a characteristic defined by adifferent relationship than the characteristics of other engagementcontrol signals generated over the first period of time, thecharacteristic of each such shock control signal being associated with amarkedly and distinguishably higher clutch pressure and out ofaccordance with the particular pattern of clutch pressures associatedwith other non-shock engagement control signals generated over the firstperiod of time.
 26. The method of claim 23, further including the stepof (d) generating, following detection of initial movement of the outputshaft, over a second period of time, prior to detection by thecontroller of input and output shaft speed signals of like value, asequence of engagement control signals having characteristics associatedwith increasingly greater clutch pressure to be applied in accordancewith a particular pattern until maximum clutch pressure is realized. 27.The method of claim 26, further including the step of (e) categorizingthe load on the power take-off shaft based upon the detected time ofinitial movement of the output shaft relative to at least onepredetermined time; and wherein the engagement control signals generatedin step (d) are dependent upon the load categorization made in step (e).28. The method of claim 24 wherein the engagement control signals havecharacteristics which are representative of associated amounts of clutchpressure to be applied at given times.
 29. A method for engagingvariable loads on a power take-off shaft in a system having a powersource for producing rotational motion; a power take-off shaft forsupplying rotational motion to at least one piece of equipment coupledto the power take-off shaft; a clutch including an input shaft coupledto the power source and an output shaft coupled to the PTO shaft,wherein the clutch transmits a maximum torque between the input andoutput shafts in response to a maximum clutch pressure and transmits aselectable torque between the input and output shafts in response to agiven clutch engagement pressure less than the maximum clutch engagementpressure; a first transducer disposed to generate an input shaft speedsignal representative of the rotational speed of the input shaft; asecond transducer disposed to generate an output shaft speed signalrepresentative of the rotational speed of the output shaft; a clutchcontrol configured to effect engagement and disengagement by the clutchin response to engagement control signals applied thereto, the clutchtransmitting a selectable torque between the input and output shaftsdependent upon a given clutch engagement pressure defined by saidengagement control signals, wherein the clutch engagement pressure isvariable up to the maximum engagement pressure; a controller coupled tothe clutch control, the first transducer, and the second transducer,said controller operable to monitor the input shaft speed signals andthe output shaft speed signals generated by said first and secondtransducers, and to produce time-based engagement control signalsdependent thereon, the engagement control signals each including acharacteristic representative of an associated amount of clutch pressureto be applied; and the controller operable to generate a first set oftime-based engagement control signals during a time period betweencommencement of an engagement operation and the time at which an outputshaft speed signal indicative of movement by the output shaft isdetected by said controller, and a second set of engagement signals attimes subsequent to said detection of movement by the output shaft; themethod comprising: (a) monitoring the input and output shaft speedsignals to detect the speeds at given times of the input and outputshafts; (b) periodically checking to determine if output shaft movementhas occurred and (1) if output shaft movement has occurred, proceedingto generate the second set of engagement signals; or (2) if output shaftmovement has not occurred and the time of the check is not a given timeafter commencement of the engagement operation, applying an engagementcontrol signal having characteristics associated with a pattern ofincreasingly greater clutch pressure; or (3) if output shaft movementhas not occurred and the time of the check is a given time aftercommencement of the engagement operation, thereafter generating, atleast one time during the first period of time, an engagement controlsignal that is a shock control signal having a characteristic defined bya different relationship than the characteristics of non-shock controlsignals generated over the first period of time, the characteristic ofthe shock control signal being associated with a markedly anddistinguishably higher clutch pressure and out of accordance with theparticular pattern of clutch pressures associated with non-shockengagement control signals generated over the first period of time. 30.The method of claim 29 wherein, at a plurality of predetermined timesduring said first time period, the controller generates distinctengagement control signals that are shock control signals each having acharacteristic defined by a different relationship than thecharacteristics of non-shock control signals generated over the firstperiod of time, the characteristic of each such shock control signalbeing associated with a markedly and distinguishably higher clutchpressure and out of accordance with the particular pattern of clutchpressures associated with non-shock engagement control signals generatedover the first period of time.
 31. The method of claim 29 whereingeneration of the second set of time-based engagement control signalsincludes the step of (c) generating over a second period of time, priorto detection by the controller of input and output shaft speed signalsof like value, a sequence of engagement control signals havingcharacteristics associated with increasingly greater clutch pressure tobe applied in accordance with a particular pattern until maximum clutchpressure is realized.
 32. The method of claim 31 wherein generation ofthe second set of time-based engagement control signals includes thestep, prior to step (c), of categorizing the load on the power take-offshaft based upon the detected time of initial movement of the outputshaft relative to at least one predetermined time, and wherein theengagement control signals generated in step (c) are dependent upon suchload categorization.
 33. The method of claim 29 wherein step (b)(2)includes the generation of a series of shock control signals.